CN105679096A - Front vehicle collision warning determination method and device - Google Patents
Front vehicle collision warning determination method and device Download PDFInfo
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- CN105679096A CN105679096A CN201610169075.1A CN201610169075A CN105679096A CN 105679096 A CN105679096 A CN 105679096A CN 201610169075 A CN201610169075 A CN 201610169075A CN 105679096 A CN105679096 A CN 105679096A
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention discloses a front vehicle collision warning determination method, comprising the steps of: according to a vehicle driving speed, obtaining a front vehicle collision warning time threshold; a front vehicle collision warning system obtaining a front vehicle video image, analyzing the relative distance and relative movement speed between a vehicle and a front vehicle, and calculating the time of generating collision between the vehicle and the front vehicle; and comparing the warning time threshold with the time of generating collision, determining whether the time of generating collision is less than or equal to the warning time threshold, the front vehicle collision warning system emitting collision warning if the time of generating collision is less than or equal to the warning time threshold, otherwise the front vehicle collision warning system does not emit collision warning. The front vehicle collision warning determination method and device can substantially decrease invalid warning, and reduce interference to drivers.
Description
Technical field
The present invention relates to vehicle collision prewarning field, particularly to a kind of front truck anti-collision warning decision method and device.
Background technology
Along with the development of society, the use of vehicle is more and more universal, but the vehicle rear-end collision caused because of carelessness and the fatigue driving of driver, collision accident also get more and more, and cause serious casualties and burden on society. Front truck collision warning systems can solve the generation of problems well, when vehicle in the process of moving, the transport condition of front truck collision warning systems moment monitoring front vehicles, when judging that this car is likely to collide with front truck, front truck collision warning systems can send prompting, driver is reminded to note dodging front truck, it is prevented that collision occurs.
The front truck collision warning systems filling market after existing are typically all the mode adopting image recognition processing, judge that whether vehicle and front truck are it may happen that collide, it is calculate simply whether to reach early warning distance with the distance of front truck and be used as early warning foundation mostly, in actual use, there is a lot of invalid early warning, as although front truck reaches early warning distance with vehicle, but two cars without mobile or two car relative distances when pulling open, should without early warning, front truck collision warning systems still can send early warning signal, frequently perplex driver, disturb driving on the contrary.
Summary of the invention
The technical problem to be solved in the present invention is in that, for prior art a lot of invalid early warning of above-mentioned generation, disturb the defect of driver, it is provided that a kind of can greatly reduce invalid early warning, the front truck anti-collision warning decision method reducing the interference to driver and device.
The technical solution adopted for the present invention to solve the technical problems is: a kind of front truck anti-collision warning decision method of structure, comprises the steps:
A) according to Vehicle Speed, obtain and the pre-warning time threshold value of front truck collision;
B) front truck collision warning systems acquisition front truck video image, analyzes the relative distance and relative moving speed that obtain described vehicle and front truck, and calculates the time obtaining described vehicle with front truck generation collision;
C) being compared described pre-warning time threshold value and the time producing collision, and judge that whether the described time producing to collide is less than or equal to pre-warning time threshold value, in this way, described front truck collision warning systems send anti-collision warning; Otherwise, described front truck collision warning systems will not send early warning signal.
In front truck anti-collision warning decision method of the present invention, described travel speed and pre-warning time threshold value are inversely proportional to.
In front truck anti-collision warning decision method of the present invention, described front truck collision warning systems obtain described front truck video image by imageing sensor.
The invention still further relates to a kind of device realizing above-mentioned front truck anti-collision warning decision method, including:
Pre-warning time threshold value acquiring unit: for according to Vehicle Speed, obtaining and the pre-warning time threshold value of front truck collision;
Collision time calculation unit: be used for making front truck collision warning systems acquisition front truck video image, analyzes the relative distance and relative moving speed that obtain described vehicle and front truck, and calculates the time obtaining described vehicle with front truck generation collision;
Time comparison judgment unit: being used for comparing described pre-warning time threshold value and the time producing collision, and judge that whether the described time producing to collide is less than or equal to pre-warning time threshold value, in this way, described front truck collision warning systems send anti-collision warning; Otherwise, described front truck collision warning systems will not send early warning signal.
In device of the present invention, described travel speed and pre-warning time threshold value are inversely proportional to.
In device of the present invention, described front truck collision warning systems obtain described front truck video image by imageing sensor.
Implement front truck anti-collision warning decision method and the device of the present invention, have the advantages that due to according to Vehicle Speed, obtain and the pre-warning time threshold value of front truck collision, namely pre-warning time threshold value is relevant to Vehicle Speed, pre-warning time threshold value is dynamically changeable, the present invention does not adopt the mode of two car relative distances to estimate collision probability, but the change and relative distance by two car relative velocities calculates the time producing collision, early warning is carried out by the mode compared with pre-warning time threshold value, invalid early warning can be greatly reduced, reduce the interference to driver.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of method in front truck anti-collision warning decision method of the present invention and one embodiment of device;
Fig. 2 is the structural representation of device in described embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Before this invention in car anti-collision warning decision method and device embodiment, the flow chart of its front truck anti-collision warning decision method is as shown in Figure 1.In Fig. 1, the method comprises the steps:
Step S01 is according to Vehicle Speed, obtain and the pre-warning time threshold value of front truck collision: in this step, according to Vehicle Speed, obtain the pre-warning time threshold value of this vehicle and front truck collision, the travel speed of general vehicle and pre-warning time threshold value (anti-collision warning time threshold) are inversely proportional to, travel speed is more high, and pre-warning time threshold value is more short, and both sides relation can rule of thumb data acquisition. In the present embodiment, the travel speed of vehicle can being labeled as V1, pre-warning time threshold marker is that T1, V1 and T1 are inversely proportional to, and namely V1 is more big, then T1 will be more little.
Step S02 front truck collision warning systems obtain front truck video image, analyze the relative distance and relative moving speed that obtain vehicle and front truck, and calculate the time obtaining vehicle with front truck generation collision: in this step, front truck collision warning systems obtain front truck video image, the relative distance and relative moving speed that obtain this vehicle and front truck can be analyzed by front truck video image, then calculate and obtain the time that the pre-front truck of this vehicle is likely to produce to collide. In the present embodiment, front truck collision warning systems obtain front truck video image by imageing sensor. In the present embodiment, relative distance can being labeled as S, relative moving speed is labeled as V2, and the time (vehicle and front truck produce the time collided) that two cars are likely to produce to collide is labeled as T2.
Pre-warning time threshold value and the time producing collision are compared by step S03, and judge that whether the time producing collision is less than or equal to pre-warning time threshold value: in this step, pre-warning time threshold value and the time producing collision are compared, and judge that whether the time producing collision is less than or equal to pre-warning time threshold value, if it is determined that result be yes, namely produce the time of collision less than or equal to pre-warning time threshold value, then perform step S04; Otherwise, step S05 is performed. In this step, in fact exactly judge whether to meet T2≤T1, if it is determined that result be T2≤T1, then perform step S04; If it is determined that result be T2 > T1, then perform step S05.
Step S04 front truck collision warning systems send anti-collision warning: if the result that above-mentioned steps S03 judges is yes, i.e. T2≤T1 then performs this step. In this step, collision reaches pre-warning time threshold value, and the pre-front truck of this vehicle is it may happen that collision, and front truck collision warning systems send anti-collision warning.
Step S05 front truck collision warning systems will not send early warning signal: if the judged result of above-mentioned steps S03 is no, i.e. T2 > T1 then performs this step. In this step, collision is not up to pre-warning time threshold value, and front truck collision warning systems will not send early warning signal.
The present invention can according to Vehicle Speed adjustment pre-warning time threshold value, in general, the travel speed of vehicle is more high, leave time of driver's reaction for more short, so pre-warning time threshold value should be relevant to the travel speed of vehicle, pre-warning time threshold value in the present invention is dynamically changeable, more science. The present invention does not adopt the mode of two car relative distances to estimate collision probability, but the change and relative distance by two car relative velocities calculates the time producing collision, early warning is carried out by the mode compared with pre-warning time threshold value, the invalid early warning that other schemes exist can be greatly reduced, reduce the interference to driver.
The present embodiment further relates to a kind of device realizing above-mentioned front truck anti-collision warning decision method, and its structural representation is as shown in Figure 2.In Fig. 2, this device includes pre-warning time threshold value acquiring unit 1, Collision time calculation unit 2 and time comparison judgment unit 3; Wherein, pre-warning time threshold value acquiring unit 1 is for according to Vehicle Speed, obtaining and the pre-warning time threshold value of front truck collision; Travel speed and pre-warning time threshold value are inversely proportional to; Collision time calculation unit 2 is used for making front truck collision warning systems acquisition front truck video image, analyzes the relative distance and relative moving speed that obtain vehicle and front truck, and calculates the time obtaining vehicle with front truck generation collision; Time comparison judgment unit 3 is for comparing pre-warning time threshold value and the time producing collision, and judges that whether the time producing collision is less than or equal to pre-warning time threshold value, and in this way, front truck collision warning systems send anti-collision warning; Otherwise, front truck collision warning systems will not send early warning signal. In the present embodiment, front truck collision warning systems obtain front truck video image by imageing sensor. The present invention can according to Vehicle Speed adjustment pre-warning time threshold value, in general, the travel speed of vehicle is more high, leave time of driver's reaction for more short, so pre-warning time threshold value should be relevant to the travel speed of vehicle, pre-warning time threshold value in the present invention is dynamically changeable, more science. The present invention does not adopt the mode of two car relative distances to estimate collision probability, but the change and relative distance by two car relative velocities calculates the time producing collision, early warning is carried out by the mode compared with pre-warning time threshold value, the invalid early warning that other schemes exist can be greatly reduced, reduce the interference to driver.
In a word, in the present embodiment, pre-warning time threshold value is calculated by the travel speed of this car; Obtain two car relative distance and relative velocities by image procossing, calculate and obtain the time that two cars produce to collide; By comparing pre-warning time threshold value and producing the time of collision, it may be judged whether send early warning signal. Thus can improve the precision that front truck anti-collision warning judges, be avoided that a lot of invalid early warning, also can reduce the interference to driver simultaneously.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (6)
1. a front truck anti-collision warning decision method, it is characterised in that comprise the steps:
A) according to Vehicle Speed, obtain and the pre-warning time threshold value of front truck collision;
B) front truck collision warning systems acquisition front truck video image, analyzes the relative distance and relative moving speed that obtain described vehicle and front truck, and calculates the time obtaining described vehicle with front truck generation collision;
C) being compared described pre-warning time threshold value and the time producing collision, and judge that whether the described time producing to collide is less than or equal to pre-warning time threshold value, in this way, described front truck collision warning systems send anti-collision warning; Otherwise, described front truck collision warning systems will not send early warning signal.
2. front truck anti-collision warning decision method according to claim 1, it is characterised in that described travel speed and pre-warning time threshold value are inversely proportional to.
3. front truck anti-collision warning decision method according to claim 1 and 2, it is characterised in that described front truck collision warning systems obtain described front truck video image by imageing sensor.
4. the device realizing front truck anti-collision warning decision method as claimed in claim 1, it is characterised in that including:
Pre-warning time threshold value acquiring unit: for according to Vehicle Speed, obtaining and the pre-warning time threshold value of front truck collision;
Collision time calculation unit: be used for making front truck collision warning systems acquisition front truck video image, analyzes the relative distance and relative moving speed that obtain described vehicle and front truck, and calculates the time obtaining described vehicle with front truck generation collision;
Time comparison judgment unit: being used for comparing described pre-warning time threshold value and the time producing collision, and judge that whether the described time producing to collide is less than or equal to pre-warning time threshold value, in this way, described front truck collision warning systems send anti-collision warning; Otherwise, described front truck collision warning systems will not send early warning signal.
5. the device of realization according to claim 4 front truck anti-collision warning decision method as claimed in claim 1, it is characterised in that described travel speed and pre-warning time threshold value are inversely proportional to.
6. the device realizing front truck anti-collision warning decision method as claimed in claim 1 according to claim 4 or 5, it is characterised in that described front truck collision warning systems obtain described front truck video image by imageing sensor.
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| CN107738644A (en) * | 2017-09-30 | 2018-02-27 | 长安大学 | A kind of vehicle control of collision avoidance method |
| WO2018035997A1 (en) * | 2016-08-25 | 2018-03-01 | 深圳市元征科技股份有限公司 | Preceding vehicle road condition display system and method |
| CN108099906A (en) * | 2017-12-21 | 2018-06-01 | 奇瑞汽车股份有限公司 | Collision warning systems and automobile on automobile |
| CN108263280A (en) * | 2017-12-14 | 2018-07-10 | 浙江鼎奕科技发展有限公司 | A kind of objects in front collision warning systems |
| CN108297879A (en) * | 2017-12-14 | 2018-07-20 | 浙江鼎奕科技发展有限公司 | A kind of Car warning system |
| CN108665702A (en) * | 2018-04-18 | 2018-10-16 | 北京交通大学 | Construction road multistage early warning system and method based on bus or train route collaboration |
| WO2019206273A1 (en) * | 2018-04-28 | 2019-10-31 | 深圳市商汤科技有限公司 | Collision control method and apparatus, and electronic device and storage medium |
| WO2020014813A1 (en) * | 2018-07-16 | 2020-01-23 | 上海芯仑光电科技有限公司 | Method for calculating collision time of object and vehicle, calculation device and vehicle |
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| CN115359682A (en) * | 2022-08-09 | 2022-11-18 | 上汽通用五菱汽车股份有限公司 | Collision early warning method and device |
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| CN112668361A (en) * | 2019-10-15 | 2021-04-16 | 北京地平线机器人技术研发有限公司 | Alarm accuracy determination method, device and computer readable storage medium |
| CN111572538B (en) * | 2020-04-27 | 2023-11-07 | 腾讯科技（深圳）有限公司 | Method and device for determining vehicle collision early warning threshold |
| CN111572538A (en) * | 2020-04-27 | 2020-08-25 | 腾讯科技（深圳）有限公司 | Vehicle collision early warning threshold determination method and device |
| CN115376361A (en) * | 2021-05-17 | 2022-11-22 | 上海博泰悦臻网络技术服务有限公司 | Vehicle rear-end collision early warning method and device, storage medium and electronic equipment |
| CN115171429A (en) * | 2022-06-29 | 2022-10-11 | 合众新能源汽车有限公司 | Test system and method for verifying forward collision warning |
| CN115171429B (en) * | 2022-06-29 | 2023-11-21 | 合众新能源汽车股份有限公司 | Testing system and method for verifying forward collision early warning |
| CN115273550A (en) * | 2022-07-29 | 2022-11-01 | 郑州工程技术学院 | Vehicle collision early warning method and system based on Internet of vehicles |
| CN115273550B (en) * | 2022-07-29 | 2023-10-24 | 郑州工程技术学院 | Vehicle collision early warning method and system based on Internet of vehicles |
| CN115359682A (en) * | 2022-08-09 | 2022-11-18 | 上汽通用五菱汽车股份有限公司 | Collision early warning method and device |
| CN115359682B (en) * | 2022-08-09 | 2024-02-13 | 上汽通用五菱汽车股份有限公司 | Collision early warning method and device |
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